Hey,
we are working with THORMANG since the beginning. We’ve got already a lot of ROS-Software out which have been already used partly during the DARPA Robotics Challenge. Please check our organizations at Github: https://github.com/thor-mang and https://github.com/team-vigir/.
For footstep planning, we’ve already fully open-sourced our 3D Planner: http://wiki.ros.org/vigir_footstep_planning
In my opinion, a Humanoids SIG is a very nice idea, as still many software/approaches are not that easy to reuse for different humanoid robots as they probably could.
Best